Add Static Typing to Validate files (#1230)

* Add types to validate files

Signed-off-by: Michael Carlstrom <[email protected]>

* remove type annotations from docstrings

Signed-off-by: Michael Carlstrom <[email protected]>

* removed other type annotated docstrings

Signed-off-by: Michael Carlstrom <[email protected]>

---------

Signed-off-by: Michael Carlstrom <[email protected]>

rclpy/rclpy/expand_topic_name.py

@@ -24,9 +24,9 @@ def expand_topic_name(topic_name: str, node_name: str, node_namespace: str) -> s
     The :py:func:validate_full_topic_name(): should be used on the expanded
     topic name to ensure it is valid after expansion.
 
-    :param topic_name str: topic name to be expanded
-    :param node_name str: name of the node that this topic is associated with
-    :param namespace str: namespace that the topic is within
+    :param topic_name: topic name to be expanded
+    :param node_name: name of the node that this topic is associated with
+    :param namespace: namespace that the topic is within
     :returns: expanded topic name which is fully qualified
     :raises: ValueError if the topic name, node name or namespace are invalid
     """

rclpy/rclpy/topic_or_service_is_hidden.py

@@ -25,7 +25,7 @@ def topic_or_service_is_hidden(name: str) -> bool:
 
     http://design.ros2.org/articles/topic_and_service_names.html#hidden-topic-or-service-names
 
-    :param name str: topic or service name to test
+    :param name: topic or service name to test
     :returns: True if name is hidden, otherwise False
     """
     return any(token for token in name.split('/') if token.startswith(HIDDEN_TOPIC_PREFIX))

rclpy/rclpy/validate_full_topic_name.py

@@ -12,12 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from typing import Literal
+
 from rclpy.exceptions import InvalidServiceNameException
 from rclpy.exceptions import InvalidTopicNameException
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 
 
-def validate_full_topic_name(name, *, is_service=False):
+def validate_full_topic_name(name: str, *, is_service: bool = False) -> Literal[True]:
     """
     Validate a given topic or service name, and raise an exception if invalid.
 
@@ -26,8 +28,8 @@ def validate_full_topic_name(name, *, is_service=False):
     If the name is invalid then rclpy.exceptions.InvalidTopicNameException
     will be raised.
 
-    :param name str: topic or service name to be validated
-    :param is_service bool: if true, InvalidServiceNameException is raised
+    :param name: topic or service name to be validated
+    :param is_service: if true, InvalidServiceNameException is raised
     :returns: True when it is valid
     :raises: InvalidTopicNameException: when the name is invalid
     """

rclpy/rclpy/validate_namespace.py

@@ -12,11 +12,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from typing import Literal
+
 from rclpy.exceptions import InvalidNamespaceException
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 
 
-def validate_namespace(namespace):
+def validate_namespace(namespace: str) -> Literal[True]:
     """
     Validate a given namespace, and raise an exception if it is invalid.
 
@@ -27,7 +29,7 @@ def validate_namespace(namespace):
     If the namespace is invalid then rclpy.exceptions.InvalidNamespaceException
     will be raised.
 
-    :param namespace str: namespace to be validated
+    :param namespace: namespace to be validated
     :returns: True when it is valid
     :raises: InvalidNamespaceException: when the namespace is invalid
     """

rclpy/rclpy/validate_node_name.py

@@ -12,18 +12,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from typing import Literal
+
 from rclpy.exceptions import InvalidNodeNameException
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 
 
-def validate_node_name(node_name):
+def validate_node_name(node_name: str) -> Literal[True]:
     """
     Validate a given node_name, and raise an exception if it is invalid.
 
     If the node_name is invalid then rclpy.exceptions.InvalidNodeNameException
     will be raised.
 
-    :param node_name str: node_name to be validated
+    :param node_name: node_name to be validated
     :returns: True when it is valid
     :raises: InvalidNodeNameException: when the node_name is invalid
     """

rclpy/rclpy/validate_parameter_name.py

@@ -12,10 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from typing import Literal
+
 from rclpy.exceptions import InvalidParameterException
 
 
-def validate_parameter_name(name: str) -> bool:
+def validate_parameter_name(name: str) -> Literal[True]:
     """
     Validate a given parameter name, and raise an exception if invalid.
 
@@ -24,7 +26,7 @@ def validate_parameter_name(name: str) -> bool:
     If the name is invalid then rclpy.exceptions.InvalidParameterException
     will be raised.
 
-    :param name str: parameter name to be validated.
+    :param name: parameter name to be validated.
     :raises: InvalidParameterException: when the name is invalid.
     """
     # TODO(jubeira): add parameter name check to be implemented at RCL level.

rclpy/rclpy/validate_topic_name.py

@@ -12,14 +12,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from typing import Literal
+
 from rclpy.exceptions import InvalidServiceNameException
 from rclpy.exceptions import InvalidTopicNameException
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 
 TOPIC_SEPARATOR_STRING = '/'
 
 
-def validate_topic_name(name, *, is_service=False):
+def validate_topic_name(name: str, *, is_service: bool = False) -> Literal[True]:
     """
     Validate a given topic or service name, and raise an exception if invalid.
 
@@ -28,8 +30,8 @@ def validate_topic_name(name, *, is_service=False):
     If the name is invalid then rclpy.exceptions.InvalidTopicNameException
     will be raised.
 
-    :param name str: topic or service name to be validated
-    :param is_service bool: if true, InvalidServiceNameException is raised
+    :param name: topic or service name to be validated
+    :param is_service: if true, InvalidServiceNameException is raised
     :returns: True when it is valid
     :raises: InvalidTopicNameException: when the name is invalid
     """